Medical Imaging System And Methods

Abstract

The disclosure generally provides for a surgical system comprising an imaging device including a gantry supported for translation between a first position and a second position to obtain imaging data of a target site of a patient over a scan period, and a position sensor to generate gantry data representing a position of the gantry relative to the base between the first position and the second position; trackers including a gantry tracker operatively attached to the gantry; a navigation system including a localizer to track states of the trackers in a navigation reference frame; a controller operatively connected to the imaging device and the navigation system, and configured to register the imaging data to the navigation reference frame by synchronizing the gantry data generated by the position sensor with changes in tracked states of the gantry tracker occurring over the scan period representing movement between the first and second position.

1 . A surgical system comprising:
 an imaging device including:
 a base, 
 a gantry supported for translation relative to the base between a first gantry position and a second gantry position to obtain imaging data of a target site of a patient over a scan period, and 
 a position sensor to generate gantry data representing a position of the gantry relative to the base between the first gantry position and the second gantry position; 
   a plurality of trackers including a gantry tracker operatively attached to the gantry;   a navigation system including a localizer to track states of the plurality of trackers in a navigation reference frame; and   a controller operatively connected to the imaging device and to the navigation system, the controller being configured to register the imaging data to the navigation reference frame by synchronizing the gantry data generated by the position sensor with changes in tracked states of the gantry tracker occurring over a scan period representing movement of the gantry between the first gantry position and the second gantry position.   
     
     
         2 . The surgical system of  claim 1 , wherein the gantry includes an x-ray source and an x-ray detector supported for rotational movement about an axis. 
     
     
         3 . The surgical system of  claim 2 , further comprising an imaging inertial sensor in communication with the controller and operatively attached to one of the x-ray source and the x-ray detector to generate imaging inertial data; and
 wherein the controller is further configured to register the imaging data to the navigation reference frame by synchronizing the imaging inertial data generated by the imaging inertial sensor with changes in tracked states of the gantry tracker occurring over the scan period representing movement of the gantry between the first gantry position and the second gantry position.   
     
     
         4 . The surgical system of  claim 3 , further comprising a second imaging inertial sensor in communication with the controller and operatively attached to the other of the x-ray source and the x-ray detector to generate second imaging inertial data. 
     
     
         5 . The surgical system of  claim 4 , wherein the controller is further configured to determine rotational acceleration of the gantry based on one or more of the imaging inertial data and the second imaging inertial data. 
     
     
         6 . The surgical system of  claim 4 , wherein the controller is further configured to determine translational movement of the gantry based on one or more of the imaging inertial data and the second imaging inertial data. 
     
     
         7 . The surgical system of  claim 3 , further comprising a navigation inertial sensor in communication with the controller and operatively attached to the localizer to generate reference inertial data; and
 wherein the controller is further configured to normalize the imaging inertial data based on the reference inertial data.   
     
     
         8 . The surgical system of  claim 7 , wherein at least one of the imaging inertial sensor and the navigation inertial sensor is configured as a gravity-vector sensor. 
     
     
         9 . The surgical system of  claim 2 , wherein the gantry further includes a frame, and a rotor supported by the frame for rotation about the axis, with the x-ray source and the x-ray detector operatively attached to the rotor. 
     
     
         10 . The surgical system of  claim 9 , wherein the x-ray source and the x-ray detector remain stationary relative to the frame while obtaining scout imaging data. 
     
     
         11 . The surgical system of  claim 9 , wherein rotation of the rotor about the axis moves the x-ray source and the x-ray detector relative to the frame while obtaining three-dimensional imaging data. 
     
     
         12 . The surgical system of  claim 1 , wherein the localizer of the navigation system is configured to optically track states of the plurality of trackers. 
     
     
         13 . The surgical system of  claim 12 , wherein the localizer of the navigation system monitors tracked states of the gantry tracker occurring over the scan period based on optical movement of the gantry tracker occurring during initial movement of the gantry from the first gantry position, during movement interruption of the gantry at the second gantry position, and during intermittent movement of the gantry between the first gantry position and the second gantry position. 
     
     
         14 . The surgical system of  claim 1 , wherein the imaging device further includes a motor to translate the gantry relative to the base. 
     
     
         15 . The surgical system of  claim 1 , wherein the plurality of trackers further includes a patient tracker adapted for attachment relative to the target site. 
     
     
         16 . The surgical system of  claim 1 , further comprising a tabletop support and a fiducial plate connected with the tabletop support, the fiducial plate including a plurality of radio opaque markers arranged in a specific geometry arrangement, the plurality of radio opaque markers configured to appear in the imaging data with the specific geometry arrangement. 
     
     
         17 . A surgical system comprising:
 an imaging device including:
 a base, 
 a gantry supported for translation relative to the base between a first gantry position and a second gantry position to obtain imaging data of a target site of a patient over a scan period, and 
 a position sensor to generate gantry data representing a position of the gantry relative to the base between the first gantry position and the second gantry position; 
   a plurality of trackers a patient tracker adapted for attachment relative to the target site, and a gantry tracker operatively attached to the gantry;   a navigation system including a localizer to track states of the plurality of trackers in a navigation reference frame; and   a controller operatively connected to the imaging device and to the navigation system, the controller being configured to register the imaging data to the navigation reference frame by synchronizing the gantry data generated by the position sensor with changes in tracked states of the gantry tracker occurring over the scan period representing movement of the gantry between the first gantry position and the second gantry position.   
     
     
         18 . (canceled) 
     
     
         19 . (canceled) 
     
     
         20 . (canceled) 
     
     
         21 . (canceled) 
     
     
         22 . (canceled) 
     
     
         23 . (canceled) 
     
     
         24 . (canceled) 
     
     
         25 . (canceled) 
     
     
         26 . (canceled) 
     
     
         27 . (canceled) 
     
     
         28 . (canceled) 
     
     
         29 . (canceled) 
     
     
         30 . A surgical system comprising:
 an imaging device including:
 a base, 
 a tabletop support connected with the base and configured to support a patient; 
 a gantry supported for translation relative to the base and the tabletop support between a first gantry position and a second gantry position to obtain imaging data of a target site of a patient over a scan period, and 
 a position sensor to generate gantry data representing a position of the gantry relative to the base and the tabletop support between the first gantry position and the second gantry position; 
   a plurality of trackers including a gantry tracker operatively attached to the gantry;   a fiducial plate connected with the tabletop support, the fiducial plate including a plurality of radio opaque markers arranged in a specific geometry arrangement, the plurality of radio opaque markers configured to appear in the imaging data with the specific geometry arrangement;   a navigation system including a localizer to track states of the plurality of trackers in a navigation reference frame; and   a controller operatively connected to the imaging device and to the navigation system, the controller being configured to register the imaging data to the navigation reference frame by synchronizing the specific geometry arrangement of the plurality of radio opaque markers in the imaging data with changes in tracked states of the gantry tracker occurring over a scan period representing movement of the gantry between the first gantry position and the second gantry position and the gantry data generated by the position sensor.   
     
     
         31 . The surgical system of  claim 16 , wherein the controller is further configured to synchronize the specific geometry arrangement of the plurality of radio opaque markers in the imaging data with changes in tracked states of the gantry tracker occurring over the scan period representing movement of the gantry between the first gantry position and the second gantry position and the gantry data generated by the position sensor.